Multilayer cylinder type magnetorheological brake

Abstract

The invention provides a multi-layer cylinder type magnetorheological brake which comprises a stator and a multi-layer brake rotor, and a brake gap between the multi-layer brake rotor and a multi-layer magnetic conductive matching sleeve of the stator is filled with magnetorheological fluid for braking. The multi-layer brake rotor comprises a plurality of trapezoidal brake cylinder layers (the layers of the brake cylinder layers are provided with a plurality of micro groove-shaped structures, the brake area of the multi-layer brake rotor is increased by increasing the number of layers, and the brake torque and the brake arm of force are increased by increasing the number of the groove-shaped structures. Magnet exciting coils used for applying magnetic fields to the magnetorheological fluid are arranged on the two sides of the multi-layer brake rotor, and when the magnet exciting coils work, the magnetic fields facing the brake gaps are generated, so that the magnetorheological fluid at the brake gaps has solid-like characteristics with enhanced anti-shear capacity, and brake torque is formed for the brake rotor; the problems that a traditional brake is large in size, small in braking torque, complex in structure and poor in heat dissipation capacity are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of brakes, and in particular to a multi-layer cylindrical magnetorheological brake. Background Art

[0002] Traditional brakes mainly achieve braking through dry friction between parts. Such frictional braking has disadvantages such as large wear of parts, short working life, and high noise, making it difficult to meet the braking requirements of high smoothness and braking controllability. Magnetorheological fluid is an intelligent material with low energy consumption and no environmental pollution. It mainly consists of three parts: magnetic particles, carrier fluid, and additives. The characteristic that magnetorheological fluid changes its mechanical properties under the action of a magnetic field is called the magnetorheological effect. With the continuous improvement of the performance of magnetorheological fluid itself and the progress of related basic research, magnetorheological technology has been increasingly applied to solve practical engineering problems. Under the action of a magnetic field, magnetorheological fluid exhibits its unique rheological characteristics, enabling it to respond quickly within milliseconds and having good real-time controllability, changing from a fluid state to a solid-like state, thereby generating the shear stress required for work. The whole process is fast and controllable, so it can be widely applied in the field of braking.

[0003] Existing magnetorheological brakes generally adopt a multi-disc type or extend the cylinder wall to increase the contact area between the magnetorheological fluid and the braking device, so as to obtain a larger braking torque. However, this will increase the volume of the magnetorheological brake, resulting in a decrease in the braking energy efficiency ratio. At the same time, the excessive volume also has certain limitations for the application of automotive braking. Other magnetorheological brakes that use deformation mechanisms to change the braking efficiency will lead to an increase in structural complexity and are difficult to meet the requirements of automotive braking stability.

[0004] Through patent retrieval, a new type of magnetorheological brake was invented and designed in a Chinese invention patent (publication number: CN113931947B). Its rotor is arranged in the placement cavity in the stator. There is a coil in the stator, and the placement cavity is filled with magnetorheological fluid. Two vanes are arranged on the outer circumferential surface of the rotor. There is a first fluid flow channel between the outer circumference of the vane and the inner side wall of the placement cavity. At least one hydraulic cavity penetrating the rotor axially is opened in the rotor, and the hydraulic cavity is also filled with magnetorheological fluid. Pistons are arranged at both ends of the hydraulic cavity. The end of the slide rod extending out of the hydraulic cavity on the piston contacts the corresponding left end cover or right end cover. Concave-convex alternating curved surfaces are arranged on the end faces of the left end cover and the right end cover facing the rotor. When the coil is not energized, after the vehicle rotates, the slide rod slides along the curved surface of the corresponding end cover, pushing the piston to move axially along the rotor. It can provide greater braking force through the combined action of the vane and the slide rod, so as to meet the braking force requirements of the vehicle. However, the coil arrangement method of this brake results in a low magnetic field utilization rate of the fluid flow channel and increases the radial size of the brake, which is not conducive to the practical application of the brake. Comparing with a Chinese invention patent (publication number: CN109505895A), the braking function is realized through a telescopic brake vane arranged between the left brake disc and the right brake disc. Its zero-field viscous resistance is very small, and the magnetorheological fluid brake generates less heat during vehicle driving, which can reduce energy loss. However, its structure involves a deformation device, the structure is complex, it is difficult to ensure its working stability, and the heat dissipation effect of the brake is poor. Therefore, there is an urgent need for a magnetorheological brake with a small volume, a large braking torque, a simple structure, and strong heat dissipation ability, which can ensure its working stability. Summary of the Invention

[0005] The present invention provides a multi-layer cylindrical magnetorheological brake, which solves the problems of the traditional brake having a large volume, a small braking torque, a complex structure, and poor heat dissipation ability.

[0006] The present invention adopts the following technical solutions.

[0007] A multi-layer cylindrical magnetorheological brake, the brake includes a stator and a multi-layer braking rotor (3). A magnetorheological fluid (12) for braking is filled in the braking gap between the multi-layer braking rotor and the multi-layer magnetic conduction matching sleeve of the stator. The multi-layer braking rotor includes a plurality of trapezoidal braking cylinder layers (301). A plurality of micro groove-like structures are opened at the layer surfaces of the braking cylinder layers. The multi-layer braking rotor increases the braking area by increasing the number of layers and increases the braking torque and braking force arm by increasing the number of groove-like structures. Excitation coils for applying a magnetic field to the magnetorheological fluid are arranged on both sides of the multi-layer braking rotor. When the excitation coils work, a magnetic field towards the braking gap is generated, making the magnetorheological fluid at the braking gap exhibit a solid-like characteristic with enhanced anti-shear ability, forming a braking torque on the braking rotor.

[0008] The stator includes a magnetic conductive housing A (1), a magnetic conductive housing B (2), a multi-layer magnetic conductive mating sleeve (4), an exciting coil (5), a coil magnetic conductive ring (6), a tapered roller bearing (9), a magnetic isolation bushing (10), and a sealing ring (11); The multi-layer braking rotor is connected to the shaft to be braked to brake the shaft.

[0009] The shaft is a stepped shaft. The magnetic conductive housing A is a circular plate with a shaft hole in the middle. The magnetic conductive housing B is cylindrical, and the magnetic conductive housing A and the multi-layer magnetic conductive mating sleeve are provided at both ends thereof to form a magnetic conductive housing of the magnetorheological brake; The stepped shaft (8) is inserted through the central axis region of the magnetic conductive housing of the magnetorheological brake, and tapered roller bearings and magnetic isolation bushings are provided at both ends of the stepped shaft; A coil magnetic conductive ring is provided between the exciting coil and the multi-layer braking rotor The multi-layer braking rotor is connected to the shaft to be braked through a key (7).

[0010] The magnetic conductive housing A and the magnetic conductive housing B are connected to form a magnetic circuit for magnetic conduction.

[0011] The magnetic conductive housing A and the magnetic conductive housing B are fitted and connected by using M3 screws through the first threaded hole (101) and the second threaded hole (202) to form a support. The magnetic conductive housing A and the coil magnetic conductive ring are respectively fitted and connected by using M6 screws through the third threaded hole (102) and the fourth threaded hole (601); The magnetic conductive housing B is fixedly fitted with the second groove (404) of the multi-layer magnetic conductive mating sleeve through the first groove (201); The hole (103) on the magnetic conductive housing A is a coil power connection hole; The hole (203) on the magnetic conductive housing B is a magnetorheological fluid injection hole; The magnetic conductive housing B is fitted with the external inclined housing (303) of the multi-layer braking rotor through the internal inclined housing (204) to form a braking gap (304).

[0012] The multi-layer braking rotor has 3 braking cylinder layers (301). There is a braking gap (305) between each of the 3 braking cylinder layers and the corresponding braking mating sleeve layer (402) on the multi-layer magnetic conductive mating sleeve; Each braking cylinder layer has 3 braking grooves (302); The 3 braking cylinder layers have 9 braking grooves. On the one hand, the braking grooves increase the contact area between the magnetorheological fluid and the braking device, making the output braking torque larger. On the other hand, the groove structure increases the braking force arm, increasing the braking torque from another angle; At the same time, the multi-layer braking rotor is fitted with the internal inclined housing 204 of the magnetic conductive housing B through the external inclined housing 303, and the two can be fitted to form a braking gap 304, as shown in the appendix Figure 7 shown; The multi-layer braking rotor is further fitted and connected with the stepped shaft and the magnetic isolation bushing to achieve stable transmission and output of the braking torque.

[0013] The magnetorheological brake is equipped with two multi-layered magnetic conduction and mating sleeves. Each multi-layered magnetic conduction and mating sleeve has 3 layers of braking and mating structures. The two multi-layered magnetic conduction and mating sleeves are respectively located on both sides of the multi-layered braking rotor.

[0014] The multi-layered magnetic conduction and mating sleeve is mated with the sealing ring through the sealing groove (401); the braking and mating sleeve layer (402) is mated with the multi-layered braking rotor to form a 6-layer effective braking clearance structure; The multi-layered magnetic conduction and mating sleeve is connected to the coil magnetic conduction ring through the magnetic conduction ring groove (403), and is connected to the magnetic conduction housing B through the boss (404).

[0015] The coil magnetic conduction ring is connected to the magnetic conduction housing A through the magnetic conduction ring threaded hole (601) and M6 type screws; it is connected to the multi-layered magnetic conduction and mating sleeve through the magnetic conduction ring boss (602); The excitation coil is wound around the coil magnetic conduction ring, and together with the above-mentioned magnetic conduction housing A, magnetic conduction housing B, braking rotor and braking and mating sleeve, it forms a complete magnetic circuit to concentrate the magnetic field generated by the excitation coil on the braking rotor part, so as to improve the magnetic field utilization efficiency of the magnetorheological brake and support the excitation coil at the same time.

[0016] The assembly process of the multi-layered cylinder type magnetorheological brake is as follows: 1. Perform a transition fit between the key and the keyway of the stepped shaft, sleeved the multi-layered braking rotor on the stepped shaft, and then sleeved the magnetic isolation sleeve on the stepped shaft and connected it to both sides of the multi-layered braking rotor; 2. Install the sealing ring on the inner groove of the multi-layered magnetic conduction and mating sleeve, and perform corresponding nested assembly of the multi-layered magnetic conduction and mating sleeve and the multi-layered braking rotor on both sides of the multi-layered braking rotor; 3. Sleeve the tapered roller bearing on the shaft and connect it to the multi-layered magnetic conduction and mating sleeve, then install the excitation coil magnetic conduction ring on the tapered roller bearing and connect it to the multi-layered magnetic conduction and mating sleeve, and then wind the coil around the coil magnetic conduction ring and connect it to the multi-layered magnetic conduction and mating sleeve; 4. Install the magnetic conduction housing B on the coil, multi-layered magnetic conduction and mating sleeve and multi-layered braking rotor, then use screws to connect and fix the magnetic conduction housing A and magnetic conduction housing B on both sides of the magnetic conduction housing B, and finally use screws to connect and fix the magnetic conduction housing A and the coil magnetic conduction ring. The assembly is completed, and the three-dimensional assembly effect is as shown in the appendix Figure 10 shown.

[0017] The present invention solves the problems of the traditional brake, such as large volume, small braking torque, complex structure and poor heat dissipation ability. Generally, the tubular magnetorheological brake of the present invention mainly consists of a brake rotor, a housing and an excitation coil. The brake rotor is immersed in the housing sealed with magnetorheological fluid, and a magnetic field is generated by energizing the excitation coil. After the coil is energized, the magnetic field generated by it causes the magnetic particles in the braking gap to polarize, making the particles attract each other and form a chain-like structure along the direction of the magnetic field lines. This structure can enhance the shear resistance of the magnetorheological fluid and make it exhibit a quasi-solid state characteristic. When the brake rotor and the housing move relative to each other, the chain-like structure composed of magnetic particles gradually breaks and new magnetic chains are continuously formed, causing the magnetorheological brake to generate a continuous braking torque.

[0018] Compared with the traditional magnetorheological brake, the multi-layer tubular magnetorheological brake designed by the present invention has the following advantages: 1. A multi-layer braking structure is adopted. On the one hand, the torque output of the brake is more stable. On the other hand, the brake has more layers of braking gaps, which can effectively increase the braking area and the output braking torque is larger; 2. Due to the arrangement form of the coil, the magnetic field lines pass vertically through the multi-layer brake rotor structure, while the radial braking gap is parallel to the generated magnetic field lines, so no braking effect is generated. And the brake rotor of this brake presents a trapezoidal structure. Compared with the rectangular braking gap, the contact area between the magnetorheological fluid and the braking device in the trapezoidal brake rotor is larger, the output braking torque is larger, and the braking effect is better; 3. Slots are opened on the trapezoidal brake rotor. On the one hand, it increases the contact area between the magnetorheological fluid and the braking device, and the output braking torque is larger. On the other hand, the slot structure increases the braking force arm, increasing the braking torque from another angle; 4. The excitation coil of this magnetorheological brake adopts a bilateral arrangement, with a more compact structure. It can not only effectively reduce the radial size of the brake, but also make the magnetic field concentrate on the rotor part, improving the utilization efficiency of the magnetic field, increasing the area where the magnetic field lines pass through the magnetorheological fluid, and greatly enhancing the braking torque of the magnetorheological brake; 5. At the same time, when the tubular magnetorheological brake is energized and working, a large amount of heat is generated by the magnetorheological fluid and the excitation coil and diffuses radially. In the traditional tubular magnetorheological brake, the excitation coil is arranged on the outer side of the rotor in the radial direction, and its heat dissipation ability is poor. However, the coil of the present invention adopts a bilateral arrangement form, which can reduce the heat accumulation and enhance the heat dissipation ability of the brake. Brief Description of the Drawings

[0019] The following further describes the present invention in detail with reference to the drawings and specific embodiments: Attached Figure 1 is an exploded view of the multi-layer tubular magnetorheological brake of the present invention; AttachedFigure 2 is a schematic cross-sectional view of a multi-layer cylindrical magnetorheological brake; Appendix Figure 3 is a three-dimensional cross-sectional schematic view of a multi-layer cylindrical magnetorheological brake; Appendix Figure 4 is a schematic overall assembly and side view; Appendix Figure 5 is a schematic exploded view of the magnetic conductive housing; Appendix Figure 6 is a schematic view of a multi-layer braking rotor; Appendix Figure 7 is a schematic view of the braking gap; Appendix Figure 8 is a schematic view of a multi-layer magnetic conductive mating sleeve; Appendix Figure 9 is a schematic view of a coil magnetic conductive ring; Appendix Figure 10 is a three-dimensional assembly schematic view of the present invention; Appendix Figure 11 is a schematic view of the magnetorheological effect of the magnetorheological fluid in the embodiment; Appendix Figure 12 is a schematic view of the rotor generating a braking force while shearing the chain structure in the magnetorheological fluid in the embodiment. Specific Embodiment

[0020] As shown in the figure, a multi-layer cylindrical magnetorheological brake, the brake includes a stator and a multi-layer braking rotor 3. A braking gap between the multi-layer braking rotor and the multi-layer magnetic conductive mating sleeve of the stator is filled with a magnetorheological fluid 12 for braking. The multi-layer braking rotor includes a plurality of trapezoidal braking cylinder layers 301. Microscopic groove-like structures are provided on the surface of the braking cylinder layer. The multi-layer braking rotor increases the braking area by increasing the number of layers, and increases the braking torque and braking force arm by increasing the number of groove-like structures. Excitation coils for applying a magnetic field to the magnetorheological fluid are provided on both sides of the multi-layer braking rotor. When the excitation coils work, a magnetic field is generated towards the braking gap, making the magnetorheological fluid at the braking gap exhibit a solid-like characteristic with enhanced anti-shearing ability, forming a braking torque on the braking rotor.

[0021] The stator includes a magnetic conductive housing A1, a magnetic conductive housing B2, a multi-layer magnetic conductive mating sleeve 4, an excitation coil 5, a coil magnetic conductive ring 6, a tapered roller bearing 9, a magnetic isolation bushing 10, and a sealing ring 11; The multi-layer braking rotor is connected to the shaft to be braked to brake the shaft.

[0022] The shaft is a stepped shaft. The magnetic conductive housing A is a circular plate with a shaft hole in the middle. The magnetic conductive housing B is a cylindrical shape, and magnetic conductive housing A and a multi-layer magnetic conductive mating sleeve are provided at both ends thereof, forming the magnetic conductive housing of the magnetorheological brake; A stepped shaft 8 is inserted through the central axis region of the magnetic conduction housing of the magnetorheological brake. Tapered roller bearings and magnetic isolation bushings are provided at both ends of the stepped shaft; a coil magnetic conduction ring is provided between the excitation coil and the multi-layered brake rotor. The multi-layered brake rotor is connected to the shaft to be braked through a key 7.

[0023] The magnetic conduction housing A and the magnetic conduction housing B are connected to form a magnetic circuit for magnetic conduction.

[0024] The magnetic conduction housing A and the magnetic conduction housing B are connected and matched by using M3 screws through the first threaded hole 101 and the second threaded hole 202 to form a support. The magnetic conduction housing A and the coil magnetic conduction ring are respectively connected and matched by using M6 screws through the third threaded hole 102 and the fourth threaded hole 601; the magnetic conduction housing B is fixedly matched with the second groove 404 of the multi-layered magnetic conduction matching sleeve through the first groove 201; the hole 103 on the magnetic conduction housing A is the coil power connection hole; the hole 203 on the magnetic conduction housing B is the magnetorheological fluid injection hole; The magnetic conduction housing B is matched with the outer inclined housing 303 of the multi-layered brake rotor through the inner inclined housing 204 to form a braking gap 304.

[0025] The multi-layered brake rotor has a total of 3 brake cylinder layers 301. There is a braking gap 305 between each of the 3 brake cylinder layers and the corresponding brake matching sleeve layer 402 on the multi-layered magnetic conduction matching sleeve; each brake cylinder layer has 3 brake grooves 302; The 3 brake cylinder layers have 9 brake grooves. On the one hand, the brake grooves increase the contact area between the magnetorheological fluid and the braking device, making the output braking torque larger. On the other hand, the groove structure increases the braking force arm, increasing the braking torque from another angle; at the same time, the multi-layered brake rotor is matched with the inner inclined housing 204 of the magnetic conduction housing B through the outer inclined housing 303, and the two can form a braking gap 304, as shown in the appendix Figure 7 shown; the multi-layered brake rotor is further connected and matched with the stepped shaft and the magnetic isolation bushing to realize the stable transmission and output of the braking torque.

[0026] The magnetorheological brake is equipped with two multi-layered magnetic conduction matching sleeves. Each multi-layered magnetic conduction matching sleeve has 3 layers of braking matching structures, and the two multi-layered magnetic conduction matching sleeves are respectively located on both sides of the multi-layered brake rotor.

[0027] The multi-layered magnetic conduction matching sleeve is matched with a sealing ring through a sealing groove 401; the brake matching sleeve layer 402 is matched with the multi-layered brake rotor to form a 6-layer effective braking gap structure; The multi-layered magnetic conduction matching sleeve is connected and matched with the coil magnetic conduction ring through a magnetic conduction ring groove 403 and is connected and matched with the magnetic conduction housing B through a boss 404.

[0028] The coil magnetic conduction ring is connected to the magnetic conduction housing A through the threaded hole 601 of the magnetic conduction ring and M6 screws; it is connected to the multi-layer magnetic conduction matching sleeve through the boss 602 of the magnetic conduction ring; The exciting coil is wound around the coil magnetic conduction ring and jointly forms a complete magnetic circuit with the above-mentioned magnetic conduction housing A, magnetic conduction housing B, braking rotor, and braking matching sleeve, so as to concentrate the magnetic field generated by the exciting coil on the braking rotor part, improve the magnetic field utilization efficiency of the magnetorheological brake, and support the exciting coil at the same time.

[0029] The assembly process of the multi-layer cylinder type magnetorheological brake is as follows: 1. Perform a transition fit between the key and the keyway of the stepped shaft, sleeved the multi-layer braking rotor on the stepped shaft, and then sleeved the magnetic isolation bushing on the stepped shaft and connected it to both sides of the multi-layer braking rotor; 2. Install the sealing ring on the inner groove of the multi-layer magnetic conduction matching sleeve, and perform corresponding nested assembly of the multi-layer magnetic conduction matching sleeve and the multi-layer braking rotor on both sides of the multi-layer braking rotor; 3. Sleeve the tapered roller bearing on the shaft and connect it to the multi-layer magnetic conduction matching sleeve, then install the exciting coil magnetic conduction ring on the tapered roller bearing and connect it to the multi-layer magnetic conduction matching sleeve, and then wind the coil around the coil magnetic conduction ring and connect it to the multi-layer magnetic conduction matching sleeve; 4. Install the magnetic conduction housing B on the coil, multi-layer magnetic conduction matching sleeve, and multi-layer braking rotor, then use screws to connect and fix the magnetic conduction housing A and the magnetic conduction housing B on both sides of the magnetic conduction housing B, and finally use screws to connect and fix the magnetic conduction housing A and the coil magnetic conduction ring. The assembly is completed, and the three-dimensional assembly effect is as shown in the appendix Figure 10 as shown.

[0030] Embodiment: When the product in this example is working, first, under the requirements of the braking working environment, the stepped shaft drives the braking rotor to rotate through the key; further, the exciting coil is connected to the power supply to generate a magnetic field; further, the magnetic field forms a magnetic circuit through the braking gap, and the magnetorheological fluid in the gap is affected by the magnetic field to produce a magnetorheological effect, and the magnetic particles in the magnetorheological fluid attract each other and form a chain structure; further, when the braking rotor and the stator perform relative motion, the chain structure composed of magnetic particles will gradually break and continuously form new magnetic chains, thereby causing the magnetorheological brake to generate a continuous braking torque, and the braking rotor will gradually decelerate until it stops rotating under the action of the braking torque.

[0031] Since the magnetorheological fluid exhibits strong controllable rheological characteristics, after connecting the power supply, the multi-layer cylinder type magnetorheological brake can, according to actual application requirements, control the braking torque to stably output by controlling the current magnitude, so as to achieve the braking function.

[0032] In this example, the magnetorheological fluid is composed of micron-sized magnetic particles with uniform particles, a specific carrier base fluid, and a surfactant. When the magnetorheological fluid is subjected to a magnetic field, the internal particles quickly become chain-like, presenting a controllable yield strength, and this change in the magnetorheological fluid is reversible. The property that the magnetorheological fluid changes its mechanical properties under the action of a magnetic field is called the magnetorheological effect.

[0033] Under the requirements of the braking working environment, the stepped shaft drives the braking rotor to rotate by a key, which causes relative movement between the braking rotor and the stator; further, when the power supply is connected, the excitation coil generates a magnetic field; further, when the magnetic field passes through the magnetic circuit, the magnetorheological fluid in the braking gap will produce a magnetorheological effect under the action of the magnetic field, and the magnetic particles in the magnetorheological fluid attract each other and form a chain-like structure; further, the relative movement between the braking rotor and the stator will cause the chain-like structure composed of magnetic particles in the braking gap to gradually break and continuously form new magnetic chains, and braking force is formed during the process of the chain-like structure gradually breaking and continuously forming new magnetic chains.

[0034] In this example, there are two excitation coils respectively distributed on both sides of the braking rotor, which makes the magnetic field strong on both sides of the rotor and weak in the middle of the rotor, and the magnetic field distribution is more reasonable; In this example, the braking rotor presents a trapezoidal structure, and the radial braking gap does not produce a braking effect. Compared with the rectangular rotor of the traditional technology, the contact area between the magnetorheological fluid and the braking device in the trapezoidal braking rotor is larger, the output braking torque is larger, and the braking effect is better; In this example, slots are opened on the trapezoidal braking rotor. On the one hand, it increases the contact area between the magnetorheological fluid and the braking device, increasing the output braking torque. On the other hand, the slot structure increases the braking force arm, increasing the braking torque from another angle.

Claims

1. A multi-layered cartridge magnetorheological brake, characterized in that: The brake comprises a stator and a multi-layer brake rotor (3); a brake gap between the multi-layer brake rotor and the multi-layer magnetic conductive matching sleeve of the stator is filled with a magnetorheological fluid (12) for braking; the multi-layer brake rotor comprises a plurality of trapezoidal brake cylinder layers (301); a plurality of micro-groove structures are provided on the surface of the brake cylinder layer; the multi-layer brake rotor increases the braking area by increasing the number of layers, and increases the braking torque and the braking force arm by increasing the number of groove structures; excitation coils for applying a magnetic field to the magnetorheological fluid are provided on both sides of the multi-layer brake rotor; when the excitation coil is in operation, a magnetic field is generated toward the brake gap, so that the magnetorheological fluid at the brake gap exhibits a solid-state characteristic with enhanced shear resistance, thereby forming a braking torque on the brake rotor.

2. A multi-layered cartridge magnetorheological brake according to claim 1, characterized in that: The stator comprises a magnetic conductive shell A (1), a magnetic conductive shell B (2), a multi-layer magnetic conductive matching sleeve (4), an excitation coil (5), a coil magnetic conductive ring (6), a tapered roller bearing (9), a magnetic isolation sleeve (10), and a sealing ring (11); The multi-layer brake rotor is connected to a shaft to be braked to brake the shaft.

3. The multi-layered cartridge type magnetorheological brake according to claim 2, characterized in that: The shaft is a stepped shaft, the magnetic shell A is a circular plate with an axial hole in the middle, and the magnetic shell B is cylindrical, with magnetic shell A and multi-layer magnetic matching sleeves at both ends to form a magnetic shell of a magnetorheological brake; A stepped shaft (8) is inserted through the central axis region of the magnetorheological brake magnetic housing, and tapered roller bearings and magnetic isolation sleeves are provided at both ends of the stepped shaft; a coil magnetic conductive ring is provided between the excitation coil and the multi-layer brake rotor The multi-layer brake rotor is connected to the shaft to be braked via a key (7).

4. A multi-layered cartridge type magnetorheological brake according to claim 3, characterized in that: The magnetic conductive shell A is connected with the magnetic conductive shell B to form a magnetic circuit for magnetic conduction.

5. The multi-layered cartridge type magnetorheological brake according to claim 4, characterized in that: The magnetic shell A and the magnetic shell B are connected by screws through the first threaded hole (101) and the second threaded hole (202) to form a support, and the magnetic shell A and the coil magnetic ring are connected by screws through the third threaded hole (102) and the fourth threaded hole (601) respectively.

6. The multi-layered cartridge type magnetorheological brake according to claim 3, characterized in that: The magnetic conductive shell B cooperates with the outer inclined shell (303) of the multi-layer brake rotor through the inner inclined shell (204) to form a brake gap (304).

7. The multi-layered cartridge type magnetorheological brake according to claim 3, characterized in that: The multi-layer brake rotor has a total of multiple brake cylinder layers (301), each brake cylinder layer having a brake gap (305) with a corresponding brake matching sleeve layer (402) on the multi-layer magnetic matching sleeve; each brake cylinder layer has three brake grooves (302).

8. The multi-layered cartridge type magnetorheological brake according to claim 3, characterized in that: The magnetorheological brake is provided with two multi-layer magnetic conductive matching sleeves, each of which has a multi-layer brake matching structure, and the two multi-layer magnetic conductive matching sleeves are respectively located on both sides of the multi-layer brake rotor; The magnetic conductive shell B is matched and fixed with the second groove (404) of the multi-layer magnetic conductive matching sleeve through the first groove (201); the upper hole (103) of the magnetic conductive shell A is a coil power connection hole; and the upper hole (203) of the magnetic conductive shell B is a magnetorheological fluid injection hole.

9. The multi-layered cartridge type magnetorheological brake according to claim 8, characterized in that: The multi-layer magnetic conductive matching sleeve is matched with the sealing ring through the sealing groove (401); the braking matching sleeve layer (402) is matched with the multi-layer braking rotor to form a multi-layer effective braking gap structure; The multi-layer magnetic conductive matching sleeve is connected to the magnetic conductive ring of the coil by means of a magnetic conductive ring groove (403), and is connected to the magnetic conductive shell B by means of a boss (404).

10. The multi-layered cartridge type magnetorheological brake according to claim 8, characterized in that: The coil magnetic conductive ring is connected to the magnetic conductive housing A through the magnetic conductive ring threaded hole (601) and the M6 ​​type screw; and is connected to the multi-layer magnetic conductive matching sleeve through the magnetic conductive ring boss (602); The excitation coil is wound on the coil magnetic ring, and together with the magnetic shell A and magnetic shell B, the brake rotor and the brake matching sleeve, forms a complete magnetic circuit to concentrate the magnetic field generated by the excitation coil on the brake rotor part.

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